Este trabalho contempla o projeto de um manipulador robótico cilindro atuado por motores de passo com cinco juntas de atuação. As etapas do projeto do robô, que tratam este estudo, foram divididas em: projeto mecânico; modelagem matemática; projeto do controlador; e simulações. O projeto mecânico apresenta uma proposta de configuração e dimensionamento mecânicos que supre a demanda exigida para a operação analisada. O modelo matemático apresenta as características elétricas e mecânicas do atuador e as características mecânicas do robô. O projeto de um controlador linear é realizado por meio da alocação dos polos do sistema em malha fechada através da realimentação dos estados de posição e de velocidade angulares do rotor unidos a um integrador do erro de posição angular. Para o primeiro grau de liberdade, por conta da variação do momento de inércia de massa associado a essa junta, um controlador com ganhos parametrizados foi projetado, no qual os ganhos são calculados baseado no modelo matemático relativo ao momento de inércia de massa associado a essa junta. Por meio de simulações computacionais, avaliou-se o projeto dos controladores no movimento ponto a ponto dos cinco eixos de atuação e a variação do momento de inércia de massa sobre a primeira junta. Os resultados dessas simulações mostraram que os controladores propostos cumprem com a dinâmica desejada nos cinco graus de liberdade do robô. / This work contemplates the design of a robotic manipulator, which is operated by a stepper motor with five actuation joints. The robot design steps were divided into: mechanical design; mathematical modeling; controller design; and simulations. The mechanical design presents a proposal of mechanical configuration and sizing that supplies the required demand for the analyzed operation. The mathematical model presents the electrical and mechanical characteristics of the actuator and the mechanical characteristics of the robot. The design of a linear controller is accomplished by allocating the poles of the closed loop system by states feedback of the position and angular speed of the rotor attached to an angular position error integrator. For the first degree of freedom, due to the variation of mass moment of inertia associated with this joint, a controller with parameterized gains was projected, in which the gains are calculated based on the mathematical model related to the mass moment of inertia associated to this joint. By means of computational simulations, we evaluated the design of the controllers in the point-to-point movement of the five actuation joints and the variation of the mass moment of inertia on the first joint. The results of these simulations showed that the proposed controllers comply with the desired dynamics in the robot’s five degrees of freedom.

presente trabalho consolida um estudo para o planejamento de trajetória livre de colisão para um robô pneumático com 5 graus de liberdade aplicando três algoritmos metaheurísticos: algoritmos metaheurísticos por vagalumes, algoritmos metaheurísticos por enxames de partículas e algoritmos genéticos. No que se refere à aplicação de algoritmos metaheurísticos ao estudo de planejamento de trajetória de robôs manipuladores na presença de obstáculos, existem diferentes tipos de técnicas para evitar colisões que consideram os efeitos cinemáticos e dinâmicos na obtenção de trajetórias com o menor tempo, torque, etc. Neste estudo, são propostas contribuições à aplicação dessas técnicas especificamente a robôs manipuladores pneumáticos, sobretudo, no que diz respeito às características específicas dos servoposicionadores pneumáticos, como, por exemplo, a modelagem do atrito desses sistemas, o cálculo da massa equivalente, etc. A metodologia utilizada é definida em duas etapas. A primeira delas consiste na obtenção de pontos intermediários, adquiridos considerando a menor distância entre os mesmos e o ponto final, gerados considerando a presença de obstáculos (cilindros, cubos e esferas) Esses obstáculos são mapeados em regiões de colisão, que constituem restrições para o problema de otimização. A segunda etapa baseia-se no estudo do planejamento de trajetórias: aplicam-se b-splines de 5º e 7º grau na interpolação dos pontos intermediários, com vistas à obtenção de trajetórias que considerem, de um lado, a menor força dos atuadores associada à dinâmica do manipulador em estudo e, de outro, restrições cinemáticas e dinâmicas, determinadas por meio das características operacionais dos servoposicionadores pneumáticos. Os resultados mostram que a metodologia proposta é adequada para tarefas de manipulação de peças na presença de obstáculos, uma vez que os pontos intermediários situam-se fora da região de colisão nos três casos aqui apresentados. Além disso, quanto à segunda etapa, observou-se que as trajetórias de 5º e 7º grau apresentaram resultados similares, de maneira que os erros obtidos poderiam ser melhorados analisando aspectos associados ao controlador do robô em estudo. / The thesis presents a study for collision-free trajectory planning for a pneumatic robot with 5 degrees of freedom applying three metaheuristic algorithms: firefly metaheuristic algorithm, particle swarm optimization and genetic algorithms. As regards the application of metaheuristic algorithms to the study of the trajectory planning of manipulating robots in the presence of obstacles, there are different types of techniques to avoid collisions that consider the kinematic and dynamic effects, obtaining trajectories with the optimal time, torque, etc. In this study, contributions are made to the application of these techniques specifically to pneumatic manipulator robots, particularly with regard to the specific characteristics of pneumatic servo-actuators, such as friction modeling of these systems, calculation of equivalent mass, etc. The methodology used is defined in two steps. The first one consists of obtaining intermediate points, acquired considering the smallest distance between the intermediate points and the final point, generated considering the presence of obstacles (cylinders, cubes and spheres) These obstacles are mapped in collision regions, which are constraints to the optimization problem. The second step is based on the study of the trajectory planning: 5th and 7th degree b-splines are applied in the interpolation of the intermediate points, in order to obtain trajectories that consider the smallest actuator force associated to the dynamics of the manipulator and the kinematic and dynamic constraints, determined by the operational characteristics of pneumatic servo-positioners. The results show that the proposed methodology is suitable for tasks of manipulating parts in the presence of obstacles because the intermediate points are outside the collision region in the three cases presented here. In addition, it was observed that the trajectories of 5th and 7th degree presented similar results, so that the errors obtained could be improved by analyzing aspects associated to the controller of the robot.

Ces travaux de thèse ont pour but d’analyser les outils de photolithographies permettant d’inscrire des réseaux des diffractions et d’identifier ceux qui sont suffisamment flexibles pour être adapté à des substrats non conventionnels tel que des cylindres ou des tubes. Les outils de photolithographies développés ont aussi été ajustés afin d’inscrire directement un réseau de diffraction dans une couche fonctionnelle de TiO2, apporté par la voie sol-gel. Cette thèse est une étude prospective car la périodicité ou le motif des structures diffractantes inscrites n’ont pas été définis pour une application spécifique. Deux outils de photolithographies ont été adaptés avec succès aux substrats cylindriques. Ils seront présentés ici et s’accompagneront d’une perspective en vue d’une application particulière. Enfin, le dernier chapitre se distincte des précédents car il ne porte pas sur le développement d’un outil de photolithographie mais sur la transformation chimique du TiO2 (diélectrique) en TiN (métal), il reste néanmoins dans la continuité de ses travaux de thèse car cette transformation est adaptée à tous types de substrats / The aim of this thesis is to analyze the photolithography tools used to print diffraction gratings and to identify those that are sufficiently flexible to be adapted to unconventional substrates such as cylinders or tubes. The photolithography tools developed have also been adjusted in order to write directly a diffraction grating in a functional layer of TiO2, supplied by the sol-gel pathway. This thesis is a prospective study because the periodicity or the pattern of the registered diffracting structures has not been defined for a specific application. Two photolithography tools have been successfully adapted to cylindrical substrates. They will be presented here and will be accompanied with a perspective for a specific application. Finally, the last chapter is distinct from the previous ones because it does not concern the development of a photolithography tool but on the chemical transformation of TiO2 (dielectric) into TiN (metal), it nevertheless remains in the continuity of its thesis because this transformation is adapted to all types of substrates

Made available in DSpace on 2014-06-11T19:31:04Z (GMT). No. of bitstreams: 0 Previous issue date: 2007-09-28Bitstream added on 2014-06-13T20:41:15Z : No. of bitstreams: 1 fernandes_ub_dr_bauru.pdf: 2660962 bytes, checksum: fc9e67e750b58c50d6c4a294d57f31a5 (MD5) / Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES) / A operação de retificação cilíndrica interna de precisão tem sido empregada na fabricação de componentes de responsabilidade na indústria metal-mecânica em geral. As modernas retificadoras CNC aprimoraram este processo no que diz respeito ao posicionamento e à rigidez do sistema máquina-peça-ferramenta, possibilitando a obtenção de peças de elevada precisão com baixos valores de tolerâncias dimensionais. Todavia, tem-se observado nos últimos anos uma crescente conscientização quanto à toxidade dos fluidos de corte empregados na lubrificação e refrigeração da peça. Paralelamente, criou-se nos últimos anos uma rígida legislação, visando evitar uma depredação desenfreada do meio ambiente. Diante de tal conjuntura, as indústrias iniciaram uma busca a métodos alternativos de lubri-refrigeração que empregassem menores quantidades. Dentre todas as técnicas existentes à de Mínima Quantidade de Lubrificação (MQL) vem ganhando cada vez mais destaque. Tal técnica pode ser entendida como um elo de ligação entre os métodos de lubri-refrigeração convencional e a usinagem a seco. Pretende-se ainda avaliar o desempenho de um novo bocal de aspersão de fluido de corte, baseando-se no modelo desenvolvido por Webster , adequado a operação de retificação cilíndrica interna. Logo, tem-se neste trabalho, o intuito de associar estas novas tendências por meio do estudo do comportamento da operação de retificação cilíndrica interna de mergulho a alta velocidade no processo de acabamento de um aço endurecido, utilizando-se a técnica de Mínima Quantidade de Lubrificação (MQL), o modelo otimizado e ainda o modelo convencional.A análise dos dados que servirão para a avaliação dos métodos de lubri-refrigeração empregados será feita por meio dos valores de rugosidade , desvio de circularidade , micro-estrutura e micro-dureza . Espera-se, com este... / Plunge cylindrical grinding has been widely employed in the manufacture of components by the metal and mechanical industry in general. Modern CNC grinding machines improve this process in terms of the positioning and rigidity of the machine-workpiece-tool system, allowing for the fabrication of high precision workpieces with low dimensional deviations. However, over the last few years, increasing awareness has been shown regarding the toxicity of the cutting fluids employed in the lubrication and cooling of the workpiece. Concomitantly, increasingly strict legislation has been passed in recent years, aiming to prevent inrestrained destruction of the environment. This situation has prompted the industry to seek alternative lubrication and cooling methods that use lower quantities of fluids. Among the existing techniques, the Minimum Quantity Lubrication (MQL) method has gained increasing prominence. This technique can be considered a combination of the conventional cooling and dry grinding methods. An evaluation was made of the performance of a new cutting fluid dispersion nozzle, based on Webster's model, suitable for the plunge cylindrical grinding operation. The purpose of this work is to examine these new trends in a study of the behavior of highrotation plunge cylindrical grinding in the finishing operation of hardened steel, using the MQL technique, the optimized nozzle model, and the conventional model. The lubrication and cooling methods employed here are evaluated based on an analysis of the roughness, circularity deviation, microstructure, and microhardness data. The results of this study le to the conclusion that the optimized lubrication and cooling method provide the best results and that the MQL system in cylindrical grinding produced unsatisfactory results, requiring further studies aimed at solving the problems that were identified.

Novel biomaterials provide a spectrum of possibilities. They can be engineered in different forms to understand how they would perform as different bioprosthetic conduits. Bacterial cellulose membranes may be suitable candidates as prosthetic valve leaflets in valve replacement surgeries due to their functional properties (hemodynamics, resistant to thrombosis). Biomaterials used for most bioprosthetic heart valves are cut, trimmed and sutured. A major challenge for the bi-leaflet configuration is that the cutting and suturing of biopolymers fabricated as sheets into a cylindrical form increases failure risk due to greater number of suture points and irregular coaptation. The objective was to culture the bacterial cellulose membrane as a continuous cylindrical construct and evaluate its mechanical properties. Various design features of the fabrication process such as culturing media and the hollow carrier-mandrel characteristics were evaluated. A comparative study of how bacterial cellulose grows on different hollow carrier membranes was conducted and thin smooth surface silicone tubes fabricated in the lab were found to be most suitable. A bioreactor for culturing cylindrical bacterial cellulose tubes on the outer surface of the hollow carrier was designed and fabricated. The mechanical properties of the fabricated tubes, specifically, their tensile strength, flexure, suture retention and tear resistance were characterized. Mechanical characterization studies showed the cylindrical bacterial cellulose tubes to be anisotropic, with preferential properties in the longitudinal (axial) direction of the tube. Preliminary results show that cylindrical bacterial cellulose tubes can be a promising candidate for use in prosthetic valve conduits.

<p>The fascinating optical properties of metallic nanostructures, dominated by collective oscillations of free electrons known as plasmons, open new opportunities for the development of devices fabrication based on noble metal nanoparticle composite materials. This thesis demonstrates a low-cost and versatile technique to produce stimuli-responsive ultrafast plasmonic nanostructures with reversible tunable optical properties. Albeit challenging, further control using thermal external stimuli to tune the local environment of gold nanoparticles embedded in VO2 host matrix would be ideal for the design of responsive functional nanocomposites. We prepared Au-VO2 nanocomposite thin films by the inverted cylindrical reactive magnetron sputtering (ICMS) known as hollow cathode magnetron sputtering for the first time and report the reversible tuning of surface plasmon resonance of Au nanoparticles by only adjusting the external temperature stimuli. The structural, morphological, interfacial analysis and optical properties of the optimized nanostructures have been studied. ICMS has been attracting much attention for its enclosed geometry and its ability to deposit on large area, uniform coating of smart nanocomposites at high deposition rate. Before achieving the aforementioned goals, a systematic study and optimization process of VO2 host matrix has been done by studying the influence of deposition parameters on the structural, morphological and optical switching properties of VO2 thin films. A reversible thermal tunability of the optical/dielectric constants of VO2 thin films by spectroscopic ellipsometry has been intensively also studied in order to bring more insights about the shift of the plasmon of gold nanoparticles imbedded in VO2 host matrix.</p>

The cylindrical ion trap (CIT) is made up of two planar endcap electrodes and a cylindrical ring electrode. The investigation of simpler geometries like CIT has been started off in recent years with a view towards miniaturization. As a step towards this, numerical studies on CITs were carried out in our laboratory. Here in this study, our motive is to characterize a CIT through experiments. We have designed a mass spectrometer where a CIT is used as the mass analyzer. The trap performance was observed by varying six parameters associated with our experiment. The parameters are (1) the ionization voltage, (2) the ramp time, (3) the ionization time, (4) the cooling time, (5) the dead time and (6) the bias voltage applied across the filaments. All the experiments have been performed in the mass selective boundary ejection mode.

The purpose of this thesis is to gain understanding of the load on flat target surfaces produced by projectile impact. Models are proposed from which upper and lower bounds can be derived for the transition be-tween interface defeat and normal penetration. It is shown that the dominating contribution to the normal load is generally provided by the hydrodynamic pressure due to the effect of inertia. In addition it is shown that the contributions from yield strength and compressibility are also significant. For a cylindrical tungsten alloy projectile at an impact velocity representative of to-day’s ordnance velocities, the contributions to the load intensity on the axis of symmetry from yield strength and compressibility are shown to be 15% and 3.4%, respectively, of that of inertia. Impact tests have shown that for conical projectiles transition from interface defeat to penetration occurs at a significantly lower impact velocity than for cylindrical projectiles. In order to better understand the influence of projectile shape, a conical projectile in axi-symmetric impact is studied by use of an analytical model for self-similar flow, and the results obtained are compared to results of numerical simula-tions. It is shown how the maximum load intensity, and the position of the maximum, depends on the apex angle. For an apex angle of 90º, the maximum load intensity is found to be almost three times that pro-duced by a cylindrical projectile with the same impact velocity. This maximum occurs well off the axis of symmetry and is 20% larger than the load intensity at this axis. Both the self-similar model and the nu-merical simulations show that the contribution to the load intensity from compressibility is positive below and negative above an apex angle of around 80º. The contribution of yield strength to the load in-tensity at centre of impact depends only weakly on the apex angle and is therefore similar to that of a cylindrical projectile.

Achieving acceptable plane wave uniformity throughout an expanded volume is necessary to conduct scattering measurements on a large target in a controlled environment. An expanded volume is large relative to the size of the nearfield array configuration used to produce plane wave uniformity. The optimum set of shading coefficients for a nearfield array may not produce acceptable plane wave uniformity as the volume and frequency domain are expanded for a given array configuration. Choosing the frequency domain as a single frequency for an optimum set of coefficients will produce plane wave uniformity throughout the largest possible volume for a given array configuration. This study determines the acceptability of uniformity results produced by an optimum set of frequency dependent coefficients throughout an expanded volume for two array configurations that comprise a system for measuring bistatic target strength in the nearfield. Minimizing the frequency domain chosen for an optimum set of coefficients will produce plane wave uniformity for the largest possible volume for a given array configuration. This study determines the acceptability of uniformity results produced by an optimum set of frequency dependent coefficients throughout an optimistic volume for two array configurations that comprise a bi-static array.

This study presents near-field electrospinning (NFES) on flat and hollow cylindrical process to fabricate permanent piezoelectricity of polyvinylidene fluoride (PVDF)/ multi-walled carbon nanotube (MWCNT) piezoelectric nanofibers. Then the mechanical properties of fibers were measured. PVDF is a potential piezoelectric polymer material combining desirable mechanical, thermal, electrical properties with excellent chemical resistance. The existing researches mostly focused on piezoelectric thin film process. However, the research of characteristic about piezoelectric fiber is little. The methods of measurement of the mechanical properties (Young¡¦s modulus, hardness, and tensile strength¡Belongation) of the electrospun PVDF/MWCN composite nanofiber were carried out by using nano-indention test (MTS Nanoindenter Windows XP System) and tensile test (Microforce Testing System). By setting electric field (1¡Ñ107 V/m), rotating velocity (900 rpm) of the hollow cylindrical glass tube on a motion X-Y stage (2 mm/sec) and PVDF solution concentration (16 wt%), and MWCNT (0.03 wt%), in-situ electric poling, mechanical stretching and morphology of PVDF nanofiber were demonstrated. After the experiments of nano-indention test and tensile strength test, it is suggested that the good mechanical properties in NFES on cylindrical process. The results show that the mechanical properties of composite nanofiber are better than the conventional NFES process. The Young¡¦s modulus of 16% PVDF fiber prepared by cylindrical process is 0.89 GPa and hardness is 26.5 MPa. The mechanical properties were increased 56.2% and 49.4% after adding 0.03% of MWCNT, corresponding to 1.39 GPa and 39.6 MPa. The tensile strength was increased 32.7% and elongation at breaking point was increased 35% after adding 0.03% MWCNT.